US11675047B2 - System and method for local oscillator drift estimation and compensation in cascaded sensors - Google Patents

System and method for local oscillator drift estimation and compensation in cascaded sensors Download PDF

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US11675047B2
US11675047B2 US17/011,261 US202017011261A US11675047B2 US 11675047 B2 US11675047 B2 US 11675047B2 US 202017011261 A US202017011261 A US 202017011261A US 11675047 B2 US11675047 B2 US 11675047B2
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signal
common
baseband signals
signals
phase shift
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US20220065986A1 (en
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Cicero Silveira Vaucher
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NXP BV
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Priority to EP21193057.3A priority patent/EP3964853A1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
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    • G—PHYSICS
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/356—Receivers involving particularities of FFT processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4017—Means for monitoring or calibrating of parts of a radar system of HF systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
    • G01S7/028—Miniaturisation, e.g. surface mounted device [SMD] packaging or housings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems

Definitions

  • This disclosure generally relates to automotive radar systems, and more particularly relates to local oscillator (LO) drift estimation and compensation in cascaded sensors in an automotive radar system.
  • LO local oscillator
  • Radar systems are becoming increasingly common in the automotive industry, being used, for example, as sensors for assisted parking, automatic cruise control speed adjustment (adaptive cruise control), headway alert, collision warning and mitigation, and brake support. Radar systems perform detection and ranging by transmitting an electromagnetic wave, such as a pulse, from a transmission antenna and measuring the time taken for the reflected signal to be detected at a receiving sensor. The amount of time taken for a reflected signal to reach an obstacle and be reflected back provides an indication of the range of that obstacle from the radar system.
  • an electromagnetic wave such as a pulse
  • Frequency modulated continuous wave radar (FMCW) systems emit series of pulses (detection signals) to obtain a time resolved range profile of the space around the radar systems.
  • Each detection signal comprises a continuous electromagnetic signal that varies between an initial frequency and a final frequency over a period of time.
  • the bandwidth of the detection signals is the difference between the initial frequency and the final frequency.
  • the detection signals are reflected off of objects in the detection space around the FMCW radar systems.
  • the reflected signals are detected by receivers of the FMCW radar systems.
  • the first sensor inputs may be coupled to a first A of the antennas, and the second sensor inputs may be coupled to a last B of the antennas such that a common one of the first sensor inputs and a common one of the second sensor inputs are both coupled to a common antenna.
  • Each IC device may receive reflected signals on each sensor input, and mixes the reflected signals to associated baseband signals based upon a local oscillator (LO) signal.
  • LO local oscillator
  • Each LO signal may have a different phase shift.
  • the LO signals may be based upon a common LO signal.
  • the FMCW radar system may include a processor configured to receive the baseband signals, to determine a difference between the phase shifts based upon the common baseband signals, and to correct at least one of the sets of baseband signals based upon the difference between the phase shifts.
  • the processor may be further configured to determine a delay time between the first common baseband signal and the second common baseband signal.
  • the processor may be further configured to delay the at least one of the first baseband signals and the second baseband signals by the delay time.
  • the IC device devices may be further configured to digitize the baseband signals, where outputting the baseband signals may comprise outputting the digitized signals.
  • the processor may be further configured to perform a Fast Fourier Transform (FFT) on the digitized baseband signals to obtain transformed signals including common transformed signal associated with the common sensor inputs.
  • FFT Fast Fourier Transform
  • the processor may be further configured to determine a complex phase shift between common first transformed signal and the common second transformed signal in a frequency domain.
  • the processor may be further configured to shift a phase of at least one of the sets of transformed baseband signals based upon the complex phase shift.
  • the first IC device may be further configured to generate the first LO signal
  • the second IC device may be further configured to receive the second LO signal from the first IC device.
  • the antennas of the antenna array may be arranged in a line and each antenna is spaced apart from a next antenna at a distance of lambda/2 or more, where lambda is a wavelength of a carrier wave of a FMCW chirp of the FMCW radar system.
  • FIG. 1 is a block diagram of a radar system according to an embodiment of the present disclosure
  • FIG. 2 illustrates various cascaded radar systems of the prior art
  • FIGS. 3 and 4 are block diagrams of radar systems of the prior art
  • FIG. 5 is a block diagram of a radar system according to an embodiment of the present disclosure.
  • FIG. 6 is a flow-chart illustrating a method for local oscillator (LO) drift estimation and compensation in cascaded sensors in aa radar system according to an embodiment of the present disclosure
  • FIG. 7 illustrates an automobile including a radar system according to an embodiment of the present disclosure.
  • the concept can be expanded to any number of Slaves.
  • FIG. 1 illustrates a radar system 110 configured to provide for detection and ranging of an object 120 in a space 100 around the radar system.
  • Radar system 110 is a MIMO radar system, including multiple transmit antennas and multiple receive antennas. Radar system 110 is configured to emit a series of encoded detection signals on each transmit antenna, to receive the reflected signals from object 120 , and to determine the range to the object and the incident angle to the object.
  • the angular resolution of radar system 110 is directly related to the total antenna aperture, which is determined by the number of receive antennas and their localization with respect to each other.
  • the receive antennas of radar system 110 are typically located at a distance of lambda/2 ( ⁇ /2) apart, or less, where A is the wavelength of the carrier signal of the detection signal, that is, the wavelength associated with the middle frequency of the detection signals.
  • Typical MIMO radar systems may have apertures in the range of 6 to 10 lambda, which, in combination with the lambda/w criteria for antenna placement, leads to antenna arrays of 12 to 20 receive antennas. It will be understood that in practice, a distance of more than lambda/2 ( ⁇ /2) may be utilized as needed or desired.
  • radar system 110 is implemented using one or more radio frequency (RF) integrated circuits (IC) or monolithic microwave integrated circuits (MMICs).
  • IC radio frequency
  • MMICs monolithic microwave integrated circuits
  • a particular IC or MMIC may provide a transmit (TX) capability with a number of transmit channels, may provide a receive (RX) capability with a number of receive channels, or may provide a transmit and receive (TX/RX) capability.
  • TX transmit
  • RX receive
  • TX/RX transmit and receive
  • FIG. 2 illustrates various embodiments of cascaded radar systems 200 and 250 , similar to radar system 100 .
  • Radar systems 200 and 140 are designed utilizing a transmit IC 202 , and one or more receive ICs 204 .
  • transmit IC 202 may be configured to include two transmit channels and to provide an output for a local oscillator (LO) signal
  • receive IC 204 may be configured to include four receive channels and to provide an input for the LO signal from the transmit IC.
  • Radar system 200 has an antenna array 206 with six antennas.
  • Antenna array 206 includes two transmit antennas to emit detection signals from the two transmit channels of transmit IC 202 , and includes four receive antennas to receive reflected signals from the four receive channels of receive IC 204 .
  • Receive IC 204 receives the LO signal from transmit IC 202 .
  • Radar system 250 has an antenna array 256 with 13 antennas.
  • Antenna array 146 includes a single transmit antenna to emit a detection signal from one of the transmit channels of transmit IC 202 , and includes 12 receive antennas.
  • four receive antennas are connected to a first receive IC 204 A
  • four receive antennas are connected to a second receive IC 204 B
  • four receive antennas are connected to a third receive IC 204 C.
  • Receive ICs 204 A, 204 B, and 204 C each receive the LO signal from transmit IC 202 .
  • transmit IC 202 will include other connections and interfaces (not illustrated), such as a crystal or clock input, one or more synchronization signal to synchronize the operation of the transmit IC with the one or more receive ICs 204 , and other inputs or outputs, as needed or desired.
  • connections and interfaces such as a crystal or clock input, one or more synchronization signal to synchronize the operation of the transmit IC with the one or more receive ICs 204 , and other inputs or outputs, as needed or desired.
  • receive IC 204 will include other connections and interfaces (not illustrated), such as one or more RF signal output, one or more IF signal output, for example where the receive IC includes down-converters to mix the received signals from the receive channels to the IF frequency, one or more data output, for example where the receive IC includes ADCs to digitize the IF signals, one or more synchronization signal to synchronize the operation of the receive IC with transmit IC 202 and with other receive ICs if present, and other inputs or outputs, as needed or desired.
  • connections and interfaces such as one or more RF signal output, one or more IF signal output, for example where the receive IC includes down-converters to mix the received signals from the receive channels to the IF frequency, one or more data output, for example where the receive IC includes ADCs to digitize the IF signals, one or more synchronization signal to synchronize the operation of the receive IC with transmit IC 202 and with other receive ICs if present, and other inputs or outputs
  • FIG. 3 illustrates a radar system 300 similar to radar system 100 .
  • Radar system 300 includes a first transmit/receive IC 310 , a second transmit/receive IC 320 , and a signal processing IC 340 .
  • Transmit/receive ICs 310 and 320 represent RF ICs or MMICs which may more may not be identically specified, as needed or desired.
  • Transmit/receive ICs 310 and 320 each include at least one transmit channel, and at least four receive channels.
  • the transmit channel of IC 310 is connected to a transmission antenna 312
  • the four receive channels of IC 310 are connected to an antenna array 314 of four receive antennas.
  • the four receive antennas of antenna array 314 are designated, from left to right, as RX(M.1), RX(M.2), RX(M.3), and RX(M.4), and each antenna located at a lambda/2 spacing from the next antenna, as described above.
  • the transmit channel of IC 320 is connected to a transmission antenna 322
  • the four receive channels of IC 320 are connected to an antenna array 324 of four receive antennas.
  • the four receive antennas of antenna array 324 are designated, from left to right, as RX(S.1), RX(S.2), RX(S.3), and RX(S.4), and each antenna is located at a lambda/2 spacing from the next antenna.
  • antenna RX(M.4) is located at the lambda/2 spacing from antenna RX(S.1), such that the antennas of antenna arrays 314 and 324 are together configured as a single receive antenna array 330 of eight antennas.
  • IC 310 further includes a clock or crystal input to which, in the illustrated example, a crystal is connected.
  • the crystal is utilized by IC 310 as an input to derive a LO signal.
  • the LO signal derived from the crystal is utilized internally in IC 310 to generate a detection signal to be emitted on transmit antenna 312 , and in the down-converting of the detected signals from receive antenna array 314 to the baseband frequency.
  • the LO signal is also provided to a LO output (LO_OUT) of IC 310 .
  • IC 310 may be referred to as a “master” IC.
  • IC 320 includes a LO input (LO_IN) to receive the LO signal from IC 310 .
  • IC 320 may be referred to as a “slave” IC.
  • the LO signal from LO_IN is utilized internally in IC 320 to generate a detection signal to be emitted on transmit antenna 322 , and in the down-converting of the detected signals from receive antenna array 324 to the baseband frequency.
  • IC 310 includes a chirp_start output that is provided to a chirp_start input of IC 320 to synchronize the start of the detection signals by IC 310 with the start of the detection signals by IC 320 .
  • the details of generating FMCW detection signals and the down-converting of detected signals are known in the art, and will not be further described herein except as needed to illustrate the current embodiments.
  • the crystal is further utilized by IC 310 to derive a 40 MHz clock for the operation of ADCs in the IC that digitize the down-converted detected signals from antenna array 314 .
  • IC 310 includes a 40 MHz output that is connected to a 40 MHz input of IC 320 for the operation of ADCs in IC 320 that digitize the down-converted detected signals from antenna array 324 , and to synchronize the digitization operations of the ADCs in ICs 310 and 320 .
  • ICs 310 and 320 each include a high-speed digital communication interface for the communication of the digitized detected signals from respective antenna arrays 314 and 324 to processing IC 340 for processing.
  • An example of a high-speed digital communication interface may include a Mobile Industry Processor Interface (MIPI) Camera Serial Interface-2 (CSI-2) interface, a Low Voltage Differential Signaling (LVDS) interface, or the like, as needed of desired.
  • MIPI Mobile Industry Processor Interface
  • CSI-2 Camera Serial Interface-2
  • LVDS Low Voltage Differential Signaling
  • the details of digitizing detected signals and communicating digitized signals via digital communication interfaces are known in the art, and will not be further described herein except as needed to illustrate the current embodiments.
  • ICs 310 and 320 each include a low-speed digital communication interface that is connected to processing IC 340 , whereby processing IC 340 communicates with ICs 310 and 320 to set up the operating parameters of ICs 310 and 320 , to monitor the operations of ICs 310 and 320 , and to modify the operating parameters of ICs 310 and 320 , as needed or desired.
  • An example of a low-speed digital communication interface may include a Serial Peripheral Interface (SPI), or the like, as needed or desired.
  • SPI Serial Peripheral Interface
  • Processing IC 340 represents a digital signal processing device configured to extract object detection, range, speed, and incident angle information from the digitized detected signals from ICs 310 and 320 .
  • An example of processing IC 130 may include a micro-controller unit (MCU), a digital signal processor (DSP), a field-programmable gate array (FPGA) device, or the like.
  • MCU micro-controller unit
  • DSP digital signal processor
  • FPGA field-programmable gate array
  • the signals between the ICs or MMICs need to be highly phase coherent.
  • the signals utilized to down-convert the detection signals should be in phase, not only within each IC or MMIC, but also between the various ICs or MMICs, in order to reduce angular errors in the determination of the angle of incidence of the detected objects.
  • the signals utilized to down-convert the detection signals should be in phase, not only within each of ICs 310 and 320 , but also between the ICs.
  • ICs 310 and 320 represent identically specified ICs, such as were each IC is of a same type and part number, or where the ICs are of different types, but are from a common family of components.
  • ICs 310 and 320 may be specified, such as by a design rule or a design recommendation.
  • ICs 310 and 320 may be configured such that, if the specified placement and interconnections are followed, the ICs are designed to ensure that the LO signals as used internally to the ICs are synchronized with each other, such as by providing an internal delay of a known duration to the internal LO in one or the other of the ICs.
  • the phase coherence of the detected signals from IC 310 will be understood to be high, that is, within a specified tolerance, the coherence of the detected signals from IC 320 will be understood to be high, and the coherence between the detected signals from IC 310 and the detected signals form IC 320 will be understood to also be high.
  • the configuration illustrated by radar system 300 provides a simple and compact design.
  • phase coherence of the LO signal may not be adequate.
  • thermal variations between IC 310 and IC 320 , and between the ICs and a printed circuit board (PCB) or other circuit board upon which the ICs are mounted may lead to uncompensated decoherence of the LO signal as used each IC.
  • radar system 300 may be representative of radar systems with more than one slave IC, and where the LO_OUT output from IC 310 is provided to the LO_IN inputs of two or more slave ICs.
  • additional slave ICs may be understood to be placed to the right of IC 320 .
  • the signal traces between the LO-OUT output of IC 130 , and a LO_IN input of the additional slave IC will be understood to be longer than the signal trace between IC 310 and IC 320 .
  • each additional slave IC will be seen to have a longer trace length, and hence the LO signal to each additional IC will be understood to be more out of phase with the LO signal as used by IC 310 .
  • FIG. 4 illustrates a radar system 400 similar to radar systems 100 and 300 .
  • Radar system 400 includes a first transmit/receive IC 410 , a second transmit/receive IC 420 , and a signal processing IC 440 .
  • Transmit/receive ICs 410 and 420 represent RF ICs or MMICs which may more may not be identically specified, as needed or desired.
  • Transmit/receive ICs 410 and 420 each include at least one transmit channel, and at least four receive channels.
  • the transmit channel of IC 410 is connected to a transmission antenna 412
  • the four receive channels of IC 410 are connected to an antenna array 414 of four receive antennas.
  • the four receive antennas of antenna array 414 are designated, from left to right, as RX(M.1), RX(M.2), RX(M.3), and RX(M.4), and each antenna located at a lambda/2 spacing from the next antenna, as described above.
  • the transmit channel of IC 420 is connected to a transmission antenna 422
  • the four receive channels of IC 420 are connected to an antenna array 424 of four receive antennas.
  • the four receive antennas of antenna array 424 are designated, from left to right, as RX(S.1), RX(S.2), RX(S.3), and RX(S.4), and each antenna is located at a lambda/2 spacing from the next antenna.
  • antenna RX(M.4) is located at the lambda/2 spacing from antenna RX(S.1), such that the antennas of antenna arrays 414 and 424 are together configured as a single receive antenna array 430 of eight antennas.
  • IC 410 further includes a clock or crystal input to which, in the illustrated example, a crystal is connected. The crystal is utilized by IC 410 as an input to derive a LO signal.
  • the LO signal derived from the crystal provided to a LO output (LO_OUT) of IC 410 .
  • IC 410 is the master IC.
  • IC 410 further includes a LO input (LO_IN) to receive the LO signal.
  • IC 410 does not use the internal LO signal, but instead utilizes the LO signal from the LO input to generate a detection signal to be emitted on transmit antenna 412 , and in the down-converting of the detected signals from receive antenna array 414 to the baseband frequency.
  • the LO signal is also provided to a LO input (LO_IN) of IC 420 .
  • IC 420 is the slave IC.
  • the LO signal from LO_IN is utilized internally in IC 420 to generate a detection signal to be emitted on transmit antenna 422 , and in the down-converting of the detected signals from receive antenna array 424 to the baseband frequency.
  • IC 410 includes a chirp_start output that is provided to a chirp_start input of IC 420 to synchronize the start of the detection signals by IC 410 with the start of the detection signals by IC 420 .
  • the crystal is further utilized by IC 410 to derive a 40 MHz clock for the operation of ADCs in the IC that digitize the down-converted detected signals from antenna array 414 .
  • IC 410 includes a 40 MHz output that is connected to a 40 MHz input of IC 420 for the operation of ADCs in IC 420 that digitize the down-converted detected signals from antenna array 424 , and to synchronize the digitization operations of the ADCs in ICs 410 and 420 .
  • ICs 410 and 420 each include a high-speed digital communication interface for the communication of the digitized detected signals from respective antenna arrays 414 and 424 to processing IC 440 for processing.
  • ICs 410 and 420 each include a low-speed digital communication interface that is connected to processing IC 440 , whereby processing IC 440 communicates with ICs 410 and 420 to set up the operating parameters of ICs 410 and 420 , to monitor the operations of ICs 410 and 420 , and to modify the operating parameters of ICs 410 and 420 , as needed or desired.
  • Processing IC 440 represents a digital signal processing device configured to extract object detection, range, speed, and incident angle information from the digitized detected signals from ICs 410 and 420 .
  • both ICs 410 and 420 use the common LO signal from the LO output of IC 410 via their respective LO inputs.
  • the LO signal received by both ICs 410 and 420 have a common phase shift because the length of the signal trace between the LO output (LO_OUT) and the LO input (LO_IN) of IC 410 is the same as the length of the signal trace between the LO output (LO_OUT) and the LO input (LO_IN) of IC 420 .
  • both signal traces will be subjected to common thermal environments, so that any drift in the LO signal as seen by the LO input of IC 410 will be the same as the drift in the LO signal as seen by the LO input of IC 420 .
  • the pair of ICs 410 and 420 can be simplified, in that the need for internal compensation for LO signal phase variations may be reduced or eliminated.
  • this advantage comes at the cost of an additional output pin on IC 410 to accommodate the LO output (LO_OUT).
  • radar system 400 is representative of radar systems with more than one slave IC
  • the signal trace for the closest IC may need to be routed via a circuitous routing to ensure that the length of the signal trace to the closest IC is as long as the signal trace to the farthest IC.
  • FIG. 5 illustrates a radar system 500 similar to radar systems 100 , 300 , and 400 .
  • Radar system 500 includes a first transmit/receive IC 510 , a second transmit/receive IC 520 , and a signal processing IC 540 .
  • Transmit/receive ICs 510 and 520 represent RF ICs or MMICs which may more may not be identically specified, as needed or desired.
  • Transmit/receive ICs 510 and 520 each include at least one transmit channel, and at least four receive channels.
  • the transmit channel of IC 510 is connected to a transmission antenna 512 , three of the four receive channels of IC 510 are connected to an antenna array 514 of three receive antennas, and the fourth receive channel of IC 510 is connected to an antenna 516 .
  • the three receive antennas of antenna array 514 are designated, from left to right, as RX(M.1), RX(M.2), and RX(M.3), and antenna 516 is designated RX(M.4)/(S.1), and each antenna located at a lambda/2 spacing from the next antenna, as described above.
  • the transmit channel of IC 320 is connected to a transmission antenna 322
  • a first one of the four receive channels of IC 320 is connected to antenna 516
  • three of the four receive channels of IC 320 are connected to an antenna array 324 of three receive antennas.
  • the three receive antennas of antenna array 524 are designated, from left to right, as RX(S.2), RX(S.3), and RX(S.4), and each antenna is located at a lambda/2 spacing from the next antenna.
  • antenna RX(S.1) is located at the lambda/2 spacing from antenna RX(S.2), such that the antennas of antenna array 514 , antenna 516 , and antenna array 524 are together configured as a single receive antenna array 530 of seven antennas.
  • IC 510 further includes a clock or crystal input to which, in the illustrated example, a crystal is connected.
  • the crystal is utilized by IC 510 as an input to derive a LO signal.
  • the LO signal derived from the crystal is utilized internally in IC 510 to generate a detection signal to be emitted on transmit antenna 512 , and in the down-converting of the detected signals from receive antenna array 514 to the baseband frequency.
  • the LO signal is also provided to a LO output (LO_OUT) of IC 510 .
  • IC 510 may be referred to as a “master” IC.
  • IC 520 includes a LO input (LO_IN) to receive the LO signal from IC 510 .
  • IC 520 may be referred to as a “slave” IC.
  • the LO signal from LO_IN is utilized internally in IC 520 to generate a detection signal to be emitted on transmit antenna 522 , and in the down-converting of the detected signals from receive antenna array 524 to the baseband frequency.
  • IC 510 includes a chirp_start output that is provided to a chirp_start input of IC 520 to synchronize the start of the detection signals by IC 510 with the start of the detection signals by IC 520 .
  • the crystal is further utilized by IC 510 to derive a 40 MHz clock for the operation of ADCs in the IC that digitize the down-converted detected signals from antenna array 514 .
  • IC 510 includes a 40 MHz output that is connected to a 40 MHz input of IC 520 for the operation of ADCs in IC 520 that digitize the down-converted detected signals from antenna array 524 , and to synchronize the digitization operations of the ADCs in ICs 510 and 520 .
  • ICs 510 and 520 each include a high-speed digital communication interface for the communication of the digitized detected signals from respective antenna arrays 514 and 524 to processing IC 540 for processing.
  • ICs 510 and 520 each include a low-speed digital communication interface that is connected to processing IC 540 , whereby processing IC 540 communicates with ICs 510 and 520 to set up the operating parameters of ICs 510 and 520 , to monitor the operations of ICs 510 and 520 , and to modify the operating parameters of ICs 510 and 520 , as needed or desired.
  • Processing IC 540 represents a digital signal processing device configured to extract object detection, range, speed, and incident angle information from the digitized detected signals from ICs 510 and 520 .
  • ICs 510 and 520 represent identically specified ICs, such as were each IC is of a same type and part number, or where the ICs are of different types, but are from a common family of components. As such, and similarly to radar system 300 , the placement of, and interconnections between ICs 510 and 520 may be specified, such as by a design rule or a design recommendation.
  • antenna 516 is connected to both the receive channel RX(M.4) and the receive channel RX(S.1) results in IC 540 receiving two sets of four digitized detected signals: a first set from IC 510 (i.e., RX(M.1)-RX(M.4)) and as second set from IC 520 (i.e., RX(S.1)-RX(S.4)).
  • any phase difference between the digitized detected signal from RX(M.4) and the digitized detected signal from RX(S.1), as seen by IC 540 will not be understood to represent an actual phase difference in the reflected signals from those channels, but will instead be understood to represent an estimate in the phase difference between the LO signal in IC 510 and the LO signal in IC 520 .
  • IC 540 operates to detect the phase difference between the digitized detected signal from RX(M.4) and the digitized detected signal from RX(S.1), and to compensate for the phase difference in the digital domain, thereby aligning the digitized detected signals from ICs 510 and 520 .
  • IC 540 operates to perform a time domain correlation of the IF signals from RX(M.4) and RX(S.1) to yield a time offset between the signals, and utilizes the time offset to correct the sets of values as needed.
  • IC 540 operates to perform a Fast Fourier Transform (FFT) on the IF signals received from ICs 510 and 520 .
  • FFT Fast Fourier Transform
  • the FFT will result in expected frequency peaks associated with the objects in the detection field.
  • the frequencies of the peaks from all of the receive channels RX(M.1)-RX(M.4) and RX(S.1)-RX(S.4) will be the same.
  • the phase offsets between the receive channels RX(M.1)-RX(M.4) will each be expected to have a phase offset indicative of the incident angle of the objects detected, as will the phase offsets between the receive channels RX(S.1)-RX(S.4).
  • the phase offsets for each object i.e., each frequency peak
  • IC 540 utilizes the phase offset between receive channels RX(M.4) and RX(S.1) to correct the sets of values as needed.
  • radar system 500 operates to set up the correction values (i.e., the time offset in the time-domain IF signals, or the phase offset in the frequency-domain signals) in an initial operation, such as during a calibration phase in the operation of radar system 500 .
  • the correction values can then be utilized for subsequent signal processing by IC 540 .
  • radar system 500 can detect a temperature difference between ICs 510 and 520 , such as during a normal operation phase in the operation of radar system 500 , and can recalculate the correction values when the temperature difference exceeds a threshold value.
  • radar system 500 can periodically set up the corrections values.
  • IC 540 can be configured to recalculate the correction values at a predetermined rate, such as ever second, every 500 milliseconds, or at another predetermined rate as needed or desired.
  • a predetermined rate such as ever second, every 500 milliseconds, or at another predetermined rate as needed or desired.
  • This embodiment may provide advantages in that, where the signal processing resources of IC 540 are sparse, the additional processing needed to calculate the correction values can be reduced.
  • radar system 500 operates to continuously calculate the correction values.
  • the additional processing needed to continuously calculate the correction values may not present an excessive burden on the IC.
  • the LO signal phase offset between multiple ICs may be estimated and corrected as needed or desired.
  • a radar system includes three IC, each with four receive channels, then a single antenna that is shared between the first and second ICs can provide an estimate of the LO phase offset between the first and second ICs, and a single antenna that is shared between the second and third ICs can provide an estimate of the LO phase offset between the second and third ICs.
  • the theoretical angular resolution of radar systems 300 and 400 is greater than the theoretical angular resolution of radar system 500 .
  • the more accurate measure of the LO signal phase differences between ICs 510 and 520 , as provided by radar system 500 may offset any loss in resolution from the smaller theoretical virtual aperture.
  • FIG. 6 illustrates a method for local oscillator (LO) drift estimation and compensation in a cascaded radar system, starting at block 600 .
  • a single antenna is connected to the receiver inputs of two receiver ICs in block 602 .
  • each receiver IC includes four receiver channels, an array of seven antennas can be provided that are spaced with spacing of lambda/2 or less.
  • three of the receiver channels on each receiver IC can be connected to an associated antenna.
  • the fourth receiver channel of each receiver IC can be connected to a shared antenna.
  • a middle antenna of the array of seven antennas will be the shared antenna.
  • a reflected FMCW chirp is received on the shared antenna in block 604 .
  • the cascaded radar system can include one or more transmit channels, either on one or more separate transmit IC, or on one or both of the first and second receiver ICs.
  • the transmit channels can emit encoded FMCW chirps that can be reflected off of objects in a detection space of the radar system.
  • the reflected FMCW chirps can be detected by the shared antenna.
  • the FMCW chirp received by the first receiver IC is mixed with a first LO signal to obtain a first IF signal, and the first IF signal is digitized in block 606 .
  • the first receiver IC can generate the first LO signal, or can receive the first LO signal from another external source.
  • the resulting IF signal will have a phase shift that is related to the phase shift of the first LO signal.
  • the first IF signal can be digitized using an ADC.
  • the FMCW chirp received by the second receiver IC is mixed with a second LO signal to obtain a second IF signal, and the second IF signal is digitized in block 608 .
  • the second receiver IC can generate the second LO signal, or can receive the second LO signal from another external source.
  • the resulting IF signal will have a phase shift that is related to the phase shift of the second LO signal.
  • the first and second LO signals may be based upon a common LO signal, for example where one of the receiver ICs generates the common LO signal, and provides the common LO signal to the other receiver IC.
  • the second IF signal can be digitized using an ADC.
  • the first and second digitized IF signals are received in block 610 .
  • a digital signal processing IC can receive the digitized IF signals from the first and second receiver ICs.
  • a phase difference between the first and second digitized IF signals is determined in block 612 .
  • the digital signal processing IC can determine the phase difference in the time-domain or in the frequency-domain, as needed or desired.
  • the phase difference is corrected in one the receiver outputs of one of the first and second ICs in block 614 , and the method ends in block 616 .
  • FIG. 7 illustrates an automobile 700 that includes one or more radar system 710 .
  • Automobile 700 represents any kind of vehicle that utilizes a radar system for object detecting objects, and providing range, speed, and incident angle information related to the object.
  • An example of automobile 700 may include a car, a self-driving car, a truck, a van, a motorcycle, a utility vehicle, a boat, a ship, a drone, an aircraft, an emergency services vehicle, or the like.
  • Radar system 710 may be in communication with an autonatic braking system, an adaptive cruise control system, a collision avoidance system, or another system of automobile 700 , as needed or desired to affect the operation of the automobile.
  • Radar system 710 may be similar to the radar systems described herein, an may operate in accordance with the teaching disclosed herein.

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  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
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